// Copyright 2020 Tier IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
//
// Author: v1.0 Yukihiro Saito
//

#ifndef MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
#define MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_

#include "multi_object_tracker/tracker/model/big_vehicle_tracker.hpp"
#include "multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp"
#include "multi_object_tracker/tracker/model/tracker_base.hpp"

#include "multi_object_tracker/kalman_filter/kalman_filter.hpp"
// #include <rclcpp/time.hpp>
namespace perception
{
    namespace algorithm
    {
        class MultipleVehicleTracker : public Tracker
        {
        private:
            NormalVehicleTracker normal_vehicle_tracker_;
            BigVehicleTracker big_vehicle_tracker_;

        public:
            MultipleVehicleTracker(
                const double &time, const LidarObject &object);

            bool predict(const double &time) override;
            bool measure(
                const LidarObject &object, const double &time) override;
            bool getTrackedObject(
                const double &time,
                LidarObject &object) const override;
            virtual ~MultipleVehicleTracker() {}
        };
    }
}
#endif // MULTI_OBJECT_TRACKER__TRACKER__MODEL__MULTIPLE_VEHICLE_TRACKER_HPP_
